Connected and automated vehicles (CAVs) will be a key component of future cooperative intelligent transportation systems (C-ITS). Since the adoption of C-ITS is not foreseen to happen instantly, not all of its elements are going to be connected at the early deployment stages. We consider a scenario where vehicles approaching a traffic light are connected to each other, but the traffic light itself is not cooperative. Information about indented trajectories such as decisions on how and when to accelerate, decelerate and stop, is communicated among the vehicles involved. We provide an optimization-based procedure for efficient and safe passing of traffic lights (or other temporary road blockage) using vehicle-to-vehicle communication (V2V). We locally optimize objectives that promote efficiency such as less deceleration and larger minimum velocity, while maintaining safety in terms of no collisions. The procedure is computationally efficient as it mainly involves a gradient decent algorithm for one single parameter. © 2023 by the authors.